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<h1>src/qvip/qvbriefdetector.h</h1><a href="qvbriefdetector_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> *      Copyright (C) 2012. PARP Research Group.</span>
<a name="l00003"></a>00003 <span class="comment"> *      &lt;http://perception.inf.um.es&gt;</span>
<a name="l00004"></a>00004 <span class="comment"> *      University of Murcia, Spain.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> *      This file is part of the QVision library.</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> *      QVision is free software: you can redistribute it and/or modify</span>
<a name="l00009"></a>00009 <span class="comment"> *      it under the terms of the GNU Lesser General Public License as</span>
<a name="l00010"></a>00010 <span class="comment"> *      published by the Free Software Foundation, version 3 of the License.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> *      QVision is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> *      but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> *      MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00015"></a>00015 <span class="comment"> *      GNU Lesser General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> *      You should have received a copy of the GNU Lesser General Public</span>
<a name="l00018"></a>00018 <span class="comment"> *      License along with QVision. If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020 
<a name="l00024"></a>00024 
<a name="l00025"></a>00025 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include &lt;iostream&gt;</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef QVBRIEFDETECTOR_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define QVBRIEFDETECTOR_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &lt;QVImage&gt;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;QVKeypoint&gt;</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="preprocessor">#include &lt;math.h&gt;</span>
<a name="l00036"></a>00036 
<a name="l00086"></a><a class="code" href="classQVBRIEFDetector.html">00086</a> <span class="keyword">class </span><a class="code" href="classQVBRIEFDetector.html" title="Simple implementation of BRIEF (Binary Robust Independent Elementary Features) descriptors...">QVBRIEFDetector</a>
<a name="l00087"></a>00087         {
<a name="l00088"></a>00088         <span class="keyword">private</span>:
<a name="l00089"></a>00089                 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> descriptorInts, numTests;
<a name="l00090"></a>00090                 <span class="keyword">const</span> <span class="keywordtype">int</span> windowRadius;
<a name="l00091"></a>00091 
<a name="l00092"></a>00092         <span class="keyword">public</span>:
<a name="l00093"></a>00093                 QVector&lt;char&gt; coordinates;
<a name="l00094"></a>00094 
<a name="l00095"></a>00095         <span class="keyword">public</span>:
<a name="l00096"></a>00096                 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getWindowRadius()<span class="keyword">           const   </span>{ <span class="keywordflow">return</span> windowRadius; }
<a name="l00097"></a>00097                 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getNumTests()<span class="keyword">                       const   </span>{ <span class="keywordflow">return</span> numTests; }
<a name="l00098"></a>00098                 <span class="comment">//inline unsigned int getDescriptorBytes()      const   { return descriptorInts; }</span>
<a name="l00099"></a>00099                 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDescriptorInts()<span class="keyword">         const   </span>{ <span class="keywordflow">return</span> descriptorInts; }
<a name="l00100"></a>00100 
<a name="l00111"></a><a class="code" href="classQVBRIEFDetector.html#a340eb352eb4a43e2b47674dc7b7995f3">00111</a>                 <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classQVBRIEFDetector.html#a340eb352eb4a43e2b47674dc7b7995f3" title="Evaluates the Hamming distance between two binary descriptors.">distance</a>(<span class="keyword">const</span> QVector&lt;unsigned int&gt; &amp;descriptorsA, <span class="keyword">const</span> QVector&lt;unsigned int&gt; &amp;descriptorsB, <span class="keyword">const</span> <span class="keywordtype">int</span> indexA = 0, <span class="keyword">const</span> <span class="keywordtype">int</span> indexB = 0)<span class="keyword"> const</span>
<a name="l00112"></a>00112 <span class="keyword">                        </span>{
<a name="l00113"></a>00113                         Q_ASSERT(descriptorsA.count() &gt; descriptorInts * indexA);
<a name="l00114"></a>00114                         Q_ASSERT(descriptorsB.count() &gt; descriptorInts * indexB);
<a name="l00115"></a>00115 
<a name="l00116"></a>00116                         <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>      *dA = &amp;(descriptorsA[descriptorInts*indexA]),
<a name="l00117"></a>00117                                                                 *dB = &amp;(descriptorsB[descriptorInts*indexB]);
<a name="l00118"></a>00118 
<a name="l00119"></a>00119                         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count = 0;
<a name="l00120"></a>00120                         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i &lt; descriptorInts; i++)
<a name="l00121"></a>00121                                 count += <a class="code" href="group__qvmath.html#gaabea9bcc4938d7719cc2940ed2894c02" title="Nifty parallel bit counting routine.">qvNiftyParallelBitCount</a>(dA[i] xor dB[i]);
<a name="l00122"></a>00122 
<a name="l00123"></a>00123                         <span class="keywordflow">return</span> count;
<a name="l00124"></a>00124                         }
<a name="l00125"></a>00125 
<a name="l00129"></a><a class="code" href="classQVBRIEFDetector.html#a919f31539fe65e0a476a5fe6a0ed2fb9">00129</a>                 <a class="code" href="classQVBRIEFDetector.html#a919f31539fe65e0a476a5fe6a0ed2fb9" title="Main constructor.">QVBRIEFDetector</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> descriptorInts = 4, <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> windowRadius = 16):
<a name="l00130"></a>00130                         descriptorInts(descriptorInts), numTests(descriptorInts*32), windowRadius(windowRadius), coordinates(numTests * 4)
<a name="l00131"></a>00131                         {
<a name="l00132"></a>00132                         <span class="keywordflow">if</span> (windowRadius &gt; 127)
<a name="l00133"></a>00133                                 std::cout &lt;&lt; <span class="stringliteral">&quot;[QVBRIEFDetector0::QVBRIEFDetector0()] Error: Test distance must be less than 127.&quot;</span> &lt;&lt; std::endl;
<a name="l00134"></a>00134 
<a name="l00135"></a>00135                         <span class="comment">//for(unsigned int i = 0; i &lt; coordinates[0].count(); i++)</span>
<a name="l00136"></a>00136                         <span class="comment">//      coordinates[0][i] = rand()%(2*windowRadius) - windowRadius;</span>
<a name="l00137"></a>00137 
<a name="l00138"></a>00138                         <span class="keywordflow">for</span>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i &lt; numTests*4; i+=2)
<a name="l00139"></a>00139                                 {
<a name="l00140"></a>00140                                 <span class="keyword">const</span> <span class="keywordtype">double</span>    random1 = double(random()%1000) / 1000.0,
<a name="l00141"></a>00141                                                                 random2 = double(random()%500) / 1000.0 + 0.5;
<a name="l00142"></a>00142 
<a name="l00143"></a>00143                                 Q_ASSERT(random1 &gt;= 0);
<a name="l00144"></a>00144                                 Q_ASSERT(random2 &gt;= 0);
<a name="l00145"></a>00145                                 Q_ASSERT(random1 &lt;= 1.0);
<a name="l00146"></a>00146                                 Q_ASSERT(random2 &lt;= 1.0);
<a name="l00147"></a>00147 
<a name="l00148"></a>00148                                 <span class="keyword">const</span> <span class="keywordtype">double</span>    angle = 2.0 * PI * random1,
<a name="l00149"></a>00149                                                                 dist = random2;
<a name="l00150"></a>00150 
<a name="l00151"></a>00151                                 <span class="keyword">const</span> <span class="keywordtype">int</span>       x = <a class="code" href="group__qvmath.html#ga459fc88ab2ecb0145f7a4d88f52b1589" title="Returns the natural number closest to a given real value.">qvSymmetricFloor</a>(dist * cos(angle) * <span class="keywordtype">int</span>(windowRadius)),
<a name="l00152"></a>00152                                                         y = <a class="code" href="group__qvmath.html#ga459fc88ab2ecb0145f7a4d88f52b1589" title="Returns the natural number closest to a given real value.">qvSymmetricFloor</a>(dist * sin(angle) * <span class="keywordtype">int</span>(windowRadius));
<a name="l00153"></a>00153 
<a name="l00154"></a>00154                                 Q_ASSERT(x &gt;= -<span class="keywordtype">int</span>(windowRadius));
<a name="l00155"></a>00155                                 Q_ASSERT(y &gt;= -<span class="keywordtype">int</span>(windowRadius));
<a name="l00156"></a>00156                                 Q_ASSERT(x &lt;= +<span class="keywordtype">int</span>(windowRadius));
<a name="l00157"></a>00157                                 Q_ASSERT(y &lt;= +<span class="keywordtype">int</span>(windowRadius));
<a name="l00158"></a>00158 
<a name="l00159"></a>00159                                 coordinates[i+0] = x;
<a name="l00160"></a>00160                                 coordinates[i+1] = y;
<a name="l00161"></a>00161                                 }
<a name="l00162"></a>00162                         }
<a name="l00163"></a>00163 
<a name="l00166"></a><a class="code" href="classQVBRIEFDetector.html#a0882e01e86c84b45d5c9f6e138af2cca">00166</a>                 QVector&lt;unsigned int&gt; <a class="code" href="classQVBRIEFDetector.html#a0882e01e86c84b45d5c9f6e138af2cca" title="Gets the descriptor for a set of features in an image.">getDescriptors</a>(   <span class="keyword">const</span> <a class="code" href="classQVImage.html">QVImage&lt;uChar, 1&gt;</a> &amp;image,
<a name="l00167"></a>00167                                                                                                 <span class="keyword">const</span> QVector&lt;QPointF&gt; &amp;keypoints,
<a name="l00168"></a>00168                                                                                                 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> octave = 1)<span class="keyword"> const</span>
<a name="l00169"></a>00169 <span class="keyword">                        </span>{
<a name="l00170"></a>00170                         QVector&lt;unsigned int&gt; result(keypoints.count()*descriptorInts);
<a name="l00171"></a>00171 
<a name="l00172"></a>00172                         <span class="keyword">const</span> uChar     *imgData = image.<a class="code" href="classQVImage.html#a200b9b19dbe2a79f75d603f9ecc67bf1" title="Method to obtain image data buffer, in read mode.">getReadData</a>();
<a name="l00173"></a>00173 
<a name="l00174"></a>00174                         <span class="keyword">const</span> <span class="keywordtype">int</span>       imgStep = image.<a class="code" href="classQVImage.html#a8c5cb45d0c7fbf135d89c5cb40ed4875" title="Overloaded function from QVGenericImage::getStep().">getStep</a>(),
<a name="l00175"></a>00175                                                 imgCols = image.<a class="code" href="classQVImage.html#ad0f2758702ee4d96d538aa353ae81bb7" title="Overloaded function from QVGenericImage::getCols().">getCols</a>(),
<a name="l00176"></a>00176                                                 imgRows = image.<a class="code" href="classQVImage.html#a55e71ad628f450ee82bb4226cb62ec17" title="Overloaded function from QVGenericImage::getRows().">getRows</a>();
<a name="l00177"></a>00177 
<a name="l00178"></a>00178 <span class="preprocessor">                        #ifdef DEBUG</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span>                        <span class="keyword">const</span> uChar *imageDataLimit = imgData + imgStep * imgCols + imgRows;
<a name="l00180"></a>00180 <span class="preprocessor">                        #endif // DEBUG</span>
<a name="l00181"></a>00181 <span class="preprocessor"></span>
<a name="l00182"></a>00182                         <span class="comment">// Get the binary descriptors for the keypoints.</span>
<a name="l00183"></a>00183                         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> index = 0; index &lt; keypoints.count(); index++)
<a name="l00184"></a>00184                                 {
<a name="l00185"></a>00185                                 <span class="keyword">const</span> QPointF &amp;kp = keypoints[index];
<a name="l00186"></a>00186 
<a name="l00187"></a>00187                                 <span class="comment">//const int     xCoor = kp.x(), //double(kp.x) / double(kp.scale),</span>
<a name="l00188"></a>00188                                 <span class="comment">//                      yCoor = kp.y(); //double(kp.y) / double(kp.scale);</span>
<a name="l00189"></a>00189 
<a name="l00190"></a>00190                                 <span class="keyword">const</span> <span class="keywordtype">int</span>       xCoor = kp.x() / double(octave),
<a name="l00191"></a>00191                                                         yCoor = kp.y() / double(octave);
<a name="l00192"></a>00192 
<a name="l00193"></a>00193                                 <span class="comment">// Expected range for the angle.</span>
<a name="l00194"></a>00194                                 <span class="comment">//Q_ASSERT(kp.angle &gt;= -PI);</span>
<a name="l00195"></a>00195                                 <span class="comment">//Q_ASSERT(kp.angle &lt;= +PI);</span>
<a name="l00196"></a>00196 
<a name="l00197"></a>00197                                 <span class="keyword">const</span> QVector&lt;char&gt; coors = coordinates;
<a name="l00198"></a>00198 
<a name="l00199"></a>00199                                 <span class="comment">// Mind the image data boundaries.</span>
<a name="l00200"></a>00200                                 Q_ASSERT(xCoor - windowRadius &gt;= 0);
<a name="l00201"></a>00201                                 Q_ASSERT(yCoor - windowRadius &gt;= 0);
<a name="l00202"></a>00202                                 Q_ASSERT(xCoor + windowRadius &lt; imgCols);
<a name="l00203"></a>00203                                 Q_ASSERT(yCoor + windowRadius &lt; imgRows);
<a name="l00204"></a>00204 
<a name="l00205"></a>00205                                 <span class="comment">// Get the binary descriptor for the keypoint.</span>
<a name="l00206"></a>00206                                 <span class="keyword">const</span> uChar *pixelPtr = imgData + imgStep * yCoor + xCoor;
<a name="l00207"></a>00207                                 <span class="keywordflow">for</span>(<span class="keywordtype">int</span> b = 0; b &lt; descriptorInts; b++)
<a name="l00208"></a>00208                                         {
<a name="l00209"></a>00209                                         Q_ASSERT(result.count() &gt; descriptorInts*index+b);
<a name="l00210"></a>00210 
<a name="l00211"></a>00211                                         <span class="keywordtype">int</span> ac = 0;
<a name="l00212"></a>00212                                         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> binaryDescriptor = 0;
<a name="l00213"></a>00213                                         <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 32*4*b; i &lt; 32*4*(b+1); i+=4)
<a name="l00214"></a>00214                                                 {
<a name="l00215"></a>00215                                                 Q_ASSERT(i+3 &lt; coors.count());
<a name="l00216"></a>00216 
<a name="l00217"></a>00217                                                 <span class="comment">// Careful with the image data boundaries.</span>
<a name="l00218"></a>00218                                                 Q_ASSERT(xCoor + coors[i+0] &gt;= 0);
<a name="l00219"></a>00219                                                 Q_ASSERT(yCoor + coors[i+1] &gt;= 0);
<a name="l00220"></a>00220                                                 Q_ASSERT(xCoor + coors[i+0] &lt; imgCols);
<a name="l00221"></a>00221                                                 Q_ASSERT(yCoor + coors[i+1] &lt; imgRows);
<a name="l00222"></a>00222 
<a name="l00223"></a>00223                                                 Q_ASSERT(xCoor + coors[i+2] &gt;= 0);
<a name="l00224"></a>00224                                                 Q_ASSERT(yCoor + coors[i+3] &gt;= 0);
<a name="l00225"></a>00225                                                 Q_ASSERT(xCoor + coors[i+2] &lt; imgCols);
<a name="l00226"></a>00226                                                 Q_ASSERT(yCoor + coors[i+3] &lt; imgRows);
<a name="l00227"></a>00227 
<a name="l00228"></a>00228                                                 Q_ASSERT(*(pixelPtr + imgStep * coors[i+1] + coors[i+0]) == pixelPtr[ imgStep * coors[i+1] + coors[i+0] ]);
<a name="l00229"></a>00229                                                 Q_ASSERT(*(pixelPtr + imgStep * coors[i+3] + coors[i+2]) == pixelPtr[ imgStep * coors[i+3] + coors[i+2] ]);
<a name="l00230"></a>00230 
<a name="l00231"></a>00231                                                 <span class="comment">// Shift binary descriptor, to make room for the result of the next binary test.</span>
<a name="l00232"></a>00232                                                 binaryDescriptor &lt;&lt;=1;
<a name="l00233"></a>00233 
<a name="l00234"></a>00234                                                 <span class="comment">// Evaluate binary test.</span>
<a name="l00235"></a>00235                                                 binaryDescriptor |=     pixelPtr[ imgStep * coors[i+1] + coors[i+0] ]   <span class="comment">// First pixel in the binary test.</span>
<a name="l00236"></a>00236                                                                                         &gt;
<a name="l00237"></a>00237                                                                                         pixelPtr[ imgStep * coors[i+3] + coors[i+2] ];  <span class="comment">// Second pixel in the binary test.</span>
<a name="l00238"></a>00238 
<a name="l00239"></a>00239                                                 }
<a name="l00240"></a>00240                                         result[descriptorInts*index+b] = binaryDescriptor;
<a name="l00241"></a>00241                                         }
<a name="l00242"></a>00242                                 }
<a name="l00243"></a>00243 
<a name="l00244"></a>00244                         <span class="keywordflow">return</span> result;
<a name="l00245"></a>00245                         }
<a name="l00246"></a>00246         };
<a name="l00247"></a>00247 
<a name="l00278"></a>00278 <span class="keywordtype">bool</span> <a class="code" href="group__qvip.html#ga60fd9c63b86729a04e99b829bedf69cb" title="Write a list of image features and BRIEF descriptors to a text file in Lowe&amp;#39;s...">saveBRIEFDescriptorsInLoweSIFTFileFormat</a>(<span class="keyword">const</span> QString fileName, <span class="keyword">const</span> QVector&lt;QPointF&gt; features, <span class="keyword">const</span> QVector&lt;unsigned int&gt; descriptors);
<a name="l00279"></a>00279 
<a name="l00280"></a>00280 <span class="preprocessor">#endif // QVBRIEFDETECTOR_H</span>
</pre></div></div>
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<center><a href="http://perception.inf.um.es/QVision">QVision framework</a>.
<a href="http://perception.inf.um.es">PARP research group</a>.
Copyright &copy; 2007, 2008, 2009, 2010, 2011.</center>
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